A Real-Time Embedded Kernel for Nonvisual Robotic Sensors. (28th January 2008)

• Record Type: Journal Article
• Authors: Mumolo, Enzo; Nolich, Massimiliano; Lenac, Kristijan
• Other Names: Crespo Alfons Academic Editor.
• Is Part Of: EURASIP journal on embedded systems. Volume 2008(2008)
• Publication Date: 2008-01-28
• Subjects: Embedded computer systems -- Periodicals; Systèmes enfouis (Informatique); Embedded computer systems; Periodicals; Electronic journals; 006.22
• DOI: 10.1155/2008/390106
• Languages: English
• ISSNs: 1687-3955

Abstract

Abstract : We describe a novel and flexible real-time kernel, called Yartek, with low overhead and low footprint suitable for embedded systems. The motivation of this development was due to the difficulty to find a free and stable real-time kernel suitable for our necessities. Yartek has been developed on a Coldfire microcontroller. The real-time periodic tasks are scheduled using nonpreemptive EDF, while the non-real-time tasks are scheduled in background. It uses a deferred interrupt mechanism, and memory is managed using contiguous allocation. Also, a design methodology was devised for the nonpreemptive EDF scheduling, based on the computation of bounds on the periodic task durations. Finally, we describe a case study, namely, an embedded system developed with Yartek for the implementation of nonvisual perception for mobile robots. This application has been designed using the proposed design methodology.